Related papers: Hardware-in-the-Loop for Characterization of Embed…

Unmanned aerial vehicles (UAVs) are finding use in applications that place increasing emphasis on robustness to external disturbances including extreme wind. However, traditional multirotor UAV platforms do not directly sense wind;…

This paper addresses the issues of unmanned aerial vehicle (UAV) indoor navigation, specifically in areas where GPS and magnetometer sensor measurements are unavailable or unreliable. The proposed solution is to use an error state extended…

Unmanned Aerial Vehicles (UAVs) are increasingly used to enable wireless communications. Due to their characteristics, such as the ability to hover and carry cargo, UAVs can serve as communications nodes, including Wi-Fi Access Points and…

Aerial manipulation (AM) promises to move Unmanned Aerial Vehicles (UAVs) beyond passive inspection to contact-rich tasks such as grasping, assembly, and in-situ maintenance. Most prior AM demonstrations rely on external motion capture…

This paper develops a robust extended Kalman filter to estimate the rotor angles and the rotor speeds of synchronous generators of a multimachine power system. Using a batch-mode regression form, the filter processes together predicted…

This paper introduces MILUV, a Multi-UAV Indoor Localization dataset with UWB and Vision measurements. This dataset comprises 217 minutes of flight time over 36 experiments using three quadcopters, collecting ultra-wideband (UWB) ranging…

This paper presents an estimator-based control framework for hybrid flying capacitor multilevel (FCML) converters, achieving high-bandwidth control and reduced computational complexity. Utilizing a hybrid estimation method that combines…

Millimeter-wave (mmWave) hybrid analog-digital beamforming is a promising approach to satisfy the low-latency constraint in multiple unmanned aerial vehicles (UAVs) systems, which serve as network infrastructure for flexible deployment.…

The use of Millimeter-wave (mmWave) spectrum in cellular communications has recently attracted growing interest to support the expected massive increase in traffic demands. However, the high path-loss at mmWave frequencies poses severe…

In recent years, the proliferation of unmanned aerial vehicles (UAVs) has increased dramatically. UAVs can accomplish complex or dangerous tasks in a reliable and cost-effective way but are still limited by power consumption problems, which…

[Accepted to IROS 2025] In this paper, we address the problem of tracking high-speed agile trajectories for Unmanned Aerial Vehicles(UAVs), where model inaccuracies can lead to large tracking errors. Existing Nonlinear Model Predictive…

This paper presents an implementation of a smart power system using inter-device communication and supervisory control through Simulink integrated with the physical system. This control includes features of real-time control, load…

Reliable offroad autonomy requires low-latency, high-accuracy state estimates of pose as well as velocity, which remain viable throughout environments with sub-optimal operating conditions for the utilized perception modalities. As state…

This paper addresses state estimation of linear systems with special attention on unknown process and measurement noise covariances, aiming to enhance estimation accuracy while preserving the stability guarantee of the Kalman filter. To…

Advanced and accurate modelling of a Flapping Wing Micro Air Vehicle (FW MAV) and its control is one of the recent research topics related to the field of autonomous Unmanned Aerial Vehicles (UAVs). In this work, a four wing Natureinspired…

We study a scenario where an aircraft has multiple heterogeneous sensors collecting measurements to track a target vehicle of unknown location. The measurements are sampled along the flight path and our goals to optimize sensor placement to…

Existing evaluation paradigms for Autonomous Vehicles (AVs) face critical limitations. Real-world evaluation is often challenging due to safety concerns and a lack of reproducibility, whereas closed-loop simulation can face insufficient…

Due to limitations in available sensor technology, unmanned aerial vehicles (UAVs) lack an active sensing capability to measure turbulence, gusts, or other unsteady aerodynamic phenomena. Conventional in situ anemometry techniques fail to…

The performance of navigation algorithms significantly determines the trajectory tracking accuracy of the guidance, navigation, and control (GNC) system of an autonomous underwater vehicle (AUV). In closed-loop operation, the interaction…

In this paper, we present a novel stereo visual inertial pose estimation method. Compared to the widely used filter-based or optimization-based approaches, the pose estimation process is modeled as a control system. Designed feedback or…